
#include <stdint.h>

#include "../User/Component/AHRS.h"

#define TASK_IMU_SCAN_FREQ (500.0f)

/**
 * @brief 初始化IMU
 *
 */
void IMU_Init(void);

/**
 * @brief
 *
 * @param AccData
 * @param GyroData
 */
void IMU_GetData(int16_t* AccData, int16_t* GyroData);

void IMU_PraseData(AHRS_Accel_t* accel, AHRS_Gyro_t* gyro, int16_t* AccData,
                   int16_t* GyroData, AHRS_Angle_t* angle);
